Research On Variable Gait Controlling Of Quadruped Robot

Comparing with wheeled robots,legged robots has better adaptability to discontinuous terrain,but still lower in speed and energy efficiency.Therefore,it has become the focus of research that how to improve the speed and energy efficiency of the legged robots in the case of utilizing its merits.In order to solve the problem of wide speed range and efficient movement of robots,it has crucial practical significance for planning and controlling gaits changing of quadruped robots.This paper takes planar model of quadruped robot as main issue.Constructing planar dynamics model and energy consumption model of quadruped robot,the stability and optimum energy consumption of robot are considered as optimization objectives.Based on swarm intelligence optimization algorithm and Matlab numerical simulation platform,the motion planning control and gait switching of robot under various gaits are thoroughly analyzed.Firstly,this topic aims at motion analysis problem of quadruped robot under multi-gaits,establishing the planar model of the quadruped robot and solving quadruped robot’s planar dynamics model.The energy consumption model of the robot is obtained through the analysis of the energy flow and dissipation of the body movement.Based on the analysis of the energy flow of the robot,the method of energy injection of the robot model while maintaining its stability is given out.Secondly,intended to plan the gait movement of the robot,the stability of the robot movement and the energy consumption economy are taken as the optimization target,and the stability evaluation function and the energy consumption evaluation function of the robot movement are given respectively;Furthermore the adaptive function of the quadruped robot movement is given based above.Robot’s motion parameters are limited according to the motion characteristics of the different gait on the robot control parameters.By optimizing the fitness function of quadruped robot based on the swarm intelligence algorithm,the stable control solution of the robot under uniform and high speed range and acceleration and deceleration are obtained.According to the analysis of the series of control solutions,the optimal velocity range of each gait is given judging by the relationship between the stability of the gait and the parameters such as energy consumption and the forward speed.The gait mode of the gait switch is completed in one flight phase,receiving the planning result of the robot gait motion.Finally,in order to verify the results of robot gait motion planning and to design a robot gait motion control method,this paper uses Sim Mechanics-Simulink simulation to establish a quadruped robot virtual prototype for simulation experiment.The prototype is based on mathematical model,the stability control solution of the gait planning is taken as a reference,using hybrid control of off-line stable control solution and the three parts control method.Experiments show that the virtual prototype is able to cover a wide speed range,as well as high energy consumption efficiency of multi-gaits,variable gait and stable movement.The experiment verifies results of gait motion planning based on the quadruped robot planar model and the effectiveness of the robot gait control method.